Remote operation control system, remote operation control method, and non-transitory storage medium

ABSTRACT

A remote operation control system includes a simulation device, a target device and a control device. The control device is coupled to the simulation device and the target device, and is configured to determine first position data and first attitude data of the simulation device when the simulation device moves to a set state, and control the target device to move to a same state as the set state based on the first position data and the first attitude data.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a national phase entry under 35 USC 371 ofInternational Patent Application No. PCT/CN2021/076380, filed on Feb. 9,2021, which claims priority to Chinese Patent Application No.202010116258.3, filed on Feb. 25, 2020, which are incorporated herein byreference in their entirety.

TECHNICAL FIELD

The present disclosure relates to the technical field of remote controlof medical equipment, and in particular, to a remote operation controlsystem, a remote operation control method, and a non-transitory storagemedium.

BACKGROUND

In the field of medical equipment, C-arms (or U-arms, G-arms) are mainlyused for fluoroscopy and spot film in various operations. Generally,there are two ways to adjust a C-arm (or U-arm, G-arm) in actual use. Afirst way is for a doctor to adjust it on site. In this way, the doctorneeds to come in and out of an imaging room frequently, which not onlywastes a lot of time, but also consumes the doctor's energy. A secondway is for a doctor to control a C-arm through an interface. In thisway, the doctor needs to constantly learn the latest operation method toproceed with the operation; moreover, the doctor cannot have anintuitive understanding of an actual position and attitude of the C-arm,and may need to try several times to achieve an expected effect.

In both of the above two ways, it is not possible to obtain a currentposition and attitude of a device or a component thereof in real timeand intuitively, and it is difficult to adjust the device to an expectedposition and attitude, resulting in low work efficiency and pooraccuracy.

SUMMARY

In one aspect, a remote operation control system is provided. The remoteoperation control system includes a simulation device, a target deviceand a control device. The control device is coupled to the simulationdevice and the target device. The control device is configured todetermine first position data and first attitude data of the simulationdevice when the simulation device moves to a set state, and control thetarget device to move to a same state as the set state based on thefirst position data and the first attitude data.

In some embodiments, the simulation device includes at least one drivingcomponent and at least one first sensor. The at least one drivingcomponent is coupled to the control device, and the at least one drivingcomponent is configured to drive the simulation device to move to theset state under control of the control device. The at least one firstsensor is connected to the at least one driving component in one-to-onecorrespondence, and each first sensor is configured to obtain a movementamount of a driving component of a corresponding driving componentconnected to the first sensor when the simulation device moves from aprevious state to the set state. The control device is coupled to the atleast one first sensor, and the control device is configured todetermine the first position data and the first attitude data based onposition data and attitude data of the simulation device when thesimulation device is in the previous state, and a movement amount of theat least one driving component.

In some embodiments, the control device is further configured to: obtaina current state of the target device; generate a control instructionincluding a movement control amount based on second position data andsecond attitude data of the target device in the current state, and thefirst position data and the first attitude data, and send the controlinstruction to the target device. The control instruction is used forcontrolling the target device to move to the same state as the setstate.

In some embodiments, the movement control amount includes at least onelinear displacement control amount and/or at least one rotation anglecontrol amount.

In some embodiments, the control device is further configured to:control the simulation device to move to the set state in response to afirst operation of an operator instructing the simulation device tomove; and/or, determine whether the simulation device has moved to theset state in response to a second operation of the operator instructingthe simulation device to move to the set state.

In some embodiments, the remote operation control system furtherincludes at least one second sensor. The at least one second sensor isconfigured to detect the second position data and/or the second attitudedata of the target device in the current state. The control device iscoupled to the at least one second sensor, and the control device isfurther configured to obtain the second position data and/or the secondattitude data detected by the at least one second sensor.

In some embodiments, the remote operation control system furtherincludes an interaction device. The interaction device is configured toobtain information of the current state of the target device, anddisplay the information of the current state of the target device. Theinformation of the current state of the target device includes thesecond position data and the second attitude data of the target device;and/or, an image of the target device.

In some embodiments, the interaction device is coupled to the controldevice, and the interaction device is configured to obtain the secondposition data and the second attitude data of the target device in thecurrent state from the control device, and display the second positiondata and the second attitude data of the target device. And/or, theremote operation control system further includes a photographing devicecoupled to the interaction device. The photographing device isconfigured to photograph the image of the target device, and send theimage of the target device to the interaction device, so that theinteraction device displays the image of the target device.

In some embodiments, the control device is further configured to obtaina current state of the target device, and control the simulation deviceto move to the same state as the target device based on second positiondata and second attitude data of the target device in the current state,under a predetermined condition.

In some embodiments, the predetermined condition includes at least oneof following: fine-tuning a pose of the target device; or resetting thetarget device to an initial state.

In some embodiments, the target device is a C-arm, and the simulationdevice is a simulated C-arm.

In some embodiments, the simulated C-arm includes an L-shaped part, aC-shaped part, and an X-axis rotary motion mechanism. The L-shaped partincludes an X-axis linear motion mechanism, a Y-axis linear motionmechanism, and a Y-axis rotary motion mechanism connecting the X-axislinear motion mechanism and the Y-axis linear motion mechanism. TheX-axis rotary motion mechanism connects the X-axis linear motionmechanism and the C-shaped part. The Y-axis rotary motion mechanism isconfigured to make the X-axis linear motion mechanism rotate around a Yaxis relative to the Y-axis linear motion mechanism ; and the X-axisrotary motion mechanism is configured to make the C-shaped part rotatearound an X axis relative to the X-axis linear motion mechanism.

In some embodiments, the Y-axis linear motion mechanism includes a firstmotor and a first encoder. The first motor is configured to drive theX-axis linear motion mechanism to move linearly based on a firstmovement control amount, and the first encoder is configured to detect arotation amount of an output shaft of the first motor, so as todetermine a linear movement amount of the X-axis linear motionmechanism. The X-axis linear motion mechanism includes a second motorand a second encoder. The second motor is configured to drive theC-shaped part to move linearly based on a io second movement controlamount, and the second encoder is configured to detect a rotation amountof an output shaft of the second motor, so as to determine a linearmovement amount of the C-shaped part. The Y-axis rotary motion mechanismincludes a third motor and a third encoder. The third motor isconfigured to drive the X-axis linear motion mechanism to rotaterelative to the Y-axis linear motion mechanism based on a third movementcontrol amount, and the third encoder is configured to detect a rotationamount of an output shaft of the third motor, so as to determine arotation amount of the X-axis linear motion mechanism. The X-axis rotarymotion mechanism includes a fourth motor and a fourth encoder. Thefourth motor is configured to drive the C-shaped part to rotate relativeto the X-axis linear motion mechanism based on a fourth movement controlamount, and the fourth encoder is configured to detect a rotation amountof an output shaft of the fourth motor, so as to determine a rotationamount of the C-shaped part. The C-shaped part includes a fixedstructure, an arc-shaped structure, a fifth motor, and a fifth encoder.A guide rail is provided on the fixed structure, and the arc-shapedstructure is slidably connected to the guide rail. The fifth motor isconfigured to drive the arc-shaped structure to rotate relative to thefixed structure based on a fifth movement control amount, and the fifthencoder is configured to detect a rotation amount of an output shaft ofthe fifth motor, so as to determine a rotation amount of the arc-shapedstructure.

In another aspect, a remote operation control method is provided. Theremote operation control method includes: determining first positiondata and first attitude data of a simulation device when the simulationdevice moves to a set state; and controlling a target device to move toa same state as the set state based on the first position data and thefirst attitude data.

In some embodiments, determining the first position data and the firstattitude data of the simulation device when the simulation device movesto the set state includes: obtaining a movement amount of at least onedriving component of the simulation device when the simulation devicemoves from a previous state to the set state; and determining the firstposition data and the first attitude data based on position data andattitude data of the simulation device when the simulation device is inthe previous state, and the movement amount of the at least one drivingcomponent.

In some embodiments, controlling the target device to move to the samestate as the set state based on the first position data and the firstattitude data includes: obtaining a current state of the target device;generating a control instruction including a movement control amountbased on second position data and second attitude data of the targetdevice in the current state, and the first position data and the firstattitude data, and sending the control instruction to the target device.The control instruction is used for controlling the target device tomove to the same state as the set state.

In some embodiments, the movement control amount includes at least onelinear displacement control amount and/or at least one rotation anglecontrol amount.

In some embodiments, the remote operation control method furtherincludes: controlling the simulation device to move to the set state inresponse to a first operation of an operator instructing the simulationdevice to move; and/or, determining whether the simulation device hasmoved to the set state in response to a second operation of the operatorinstructing the simulation device to move to the set state.

In some embodiments, the remote operation control method furtherincludes: obtaining a current state of the target device; andcontrolling the simulation device to move to the same state as thetarget device based on second position data and second attitude data ofthe target device in the current state, under a predetermined condition.

In some embodiments, the predetermined condition includes at least oneof following: fine-tuning a pose of the target device; or resetting thetarget device to an initial state.

In yet another aspect, a non-transitory computer-readable storage mediumis provided. The non-transitory computer-readable storage medium hasstored computer program instruction(s) that, when run on a computer,cause the computer to execute the remote operation control method asdescribed in any of the above embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to describe technical solutions in the present disclosure moreclearly, accompanying drawings to be used in some embodiments of thepresent disclosure will be introduced briefly below. Obviously, theaccompanying drawings to be described below are merely accompanyingdrawings of some embodiments of the present disclosure, and a person ofordinary skill in the art may obtain other drawings according to thesedrawings. In addition, the accompanying drawings to be described belowmay be regarded as schematic diagrams, and are not limitations on actualdimensions of products, actual processes of methods and actual timingsof signals involved in the embodiments of the present disclosure.

FIG. 1 is a structural diagram of a remote operation control system, inaccordance with some embodiments;

FIG. 2 is a structural diagram of another remote operation controlsystem, in accordance with some embodiments;

FIG. 3 is a structural diagram of yet another remote operation controlsystem, in accordance with some embodiments;

FIG. 4 is a structural diagram of still another remote operation controlsystem, in accordance with some embodiments;

FIG. 5 is a structural diagram of still another remote operation controlsystem, in accordance with some embodiments;

FIG. 6 is a structural diagram of a simulated C-arm, in accordance withsome embodiments;

FIG. 7 is a structural diagram of another simulated C-arm, in accordancewith some embodiments;

FIG. 8 is a flowchart of a remote operation control method, inaccordance with some embodiments;

FIG. 9 is a flowchart of another remote operation control method, inaccordance with some embodiments;

FIG. 10 is a flowchart of yet another remote operation control method,in accordance with some embodiments;

FIG. 11A is a flowchart of still another remote operation controlmethod, in accordance with some embodiments;

FIG. 11B is a flowchart of still another remote operation controlmethod, in accordance with some embodiments;

FIG. 11C is a flowchart of still another remote operation controlmethod, in accordance with some embodiments;

FIG. 12 is a flowchart of still another remote operation control method,in accordance with some embodiments; and

FIG. 13 is a structural diagram of a terminal, in accordance with someembodiments.

DETAILED DESCRIPTION

Technical solutions in some embodiments of the present disclosure willbe described clearly and completely below with reference to theaccompanying drawings. Obviously, the described embodiments are merelysome but not all embodiments of the present disclosure. All otherembodiments obtained based on the embodiments of the present disclosureby a person of ordinary skill in the art shall be included in theprotection scope of the present disclosure.

Unless the context requires otherwise, throughout the description andthe claims, the term “comprise” and other forms thereof such as thethird-person singular form “comprises” and the present participle form“comprising” are construed as an open and inclusive meaning, i.e.,“including, but not limited to”. In the description of thespecification, the terms such as “one embodiment”, “some embodiments”,“exemplary embodiments”, “example”, “specific example” or “someexamples” are intended to indicate that specific features, structures,materials or characteristics related to the embodiment(s) or example(s)are included in at least one embodiment or example of the presentdisclosure. Schematic representations of the above terms do notnecessarily refer to the same embodiment(s) or example(s). In addition,the specific features, structures, materials, or characteristics may beincluded in any one or more embodiments or examples in any suitablemanner.

Hereinafter, the terms “first” and “second” are used for descriptivepurposes only, and are not to be construed as indicating or implying therelative importance or implicitly indicating the number of indicatedtechnical features. Thus, a feature defined with “first” or “second” mayexplicitly or implicitly include one or more of the features. In thedescription of the embodiments of the present disclosure, the term “aplurality of/the to plurality of” means two or more unless otherwisespecified.

In the description of some embodiments, the terms such as “coupled” and“connected” and derivatives thereof may be used. For example, the term“connected” may be used in the description of some embodiments toindicate that two or more components are in direct physical orelectrical contact with each other. For another example, the term“coupled” may be used in the description of some embodiments to indicatethat two or more components are in direct physical or electricalcontact. However, the term “coupled” or “communicatively coupled” mayalso mean that two or more components are not in direct contact witheach other, but still cooperate or interact with each other. Theembodiments disclosed herein are not necessarily limited to the contentherein.

The phrase “A and/or B” includes the following three combinations: onlyA, only B, and a combination of A and B.

The phrase “applicable to” or “configured to” used herein has an openand inclusive meaning, which does not exclude devices that areapplicable to or configured to perform additional tasks or steps.

In addition, the use of the phrase “based on” indicates openness andinclusiveness, since a process, step, calculation or other action thatis “based on” one or more of the stated conditions or values may bebased on additional conditions or values exceeding those stated inpractice.

Exemplary embodiments are described herein with reference to sectionalviews and/or plan views as idealized exemplary drawings. In theaccompanying drawings, thickness of layers and sizes of regions areenlarged for clarity. Thus, variations in shape relative to the drawingsdue to, for example, manufacturing technologies and/or tolerances may beenvisaged. The exemplary embodiments should not be construed as beinglimited to the shapes of the regions shown herein, but including shapedeviations due to, for example, manufacturing. For example, an etchedregion shown to have a rectangular shape generally has a feature ofbeing curved. Therefore, the regions shown in the accompanying drawingsare schematic in nature, and their shapes are not intended to showactual shapes of the region in a device, and are not intended to limitthe scope of the exemplary embodiments.

In order to keep the following description of the present disclosureclear and concise, detailed descriptions of known functions and knowncomponents may be omitted in the present disclosure.

For ease of understanding the present disclosure, a remote operationcontrol system provided in some embodiments of the present disclosure isintroduced in detail first.

FIG. 1 is a structural diagram of a remote operation control system 100provided in some embodiments of the present disclosure. As shown in FIG.1, the remote operation control system 100 includes a control device 10,a simulation device 20 and a target device 30. The control device 10 iscoupled to the simulation device 20 and the target device 30.

The control device 10 is configured to determine first position data andfirst attitude data of the simulation device 20 when the simulationdevice 20 moves to a set state, and control the target device 30 to moveto a same state as the set state based on the first position data andthe first attitude data.

The simulation device 20 and the target device 30 may have a samestructure. That is, the simulation device 20 may be a model constructedbased on a production drawing of the target device 30. A size ratio, acolor rendered on each component and an angle between the components ofthe simulation device 20 may all be the same as those of the targetdevice 30. For example, in a case where the target device 30 is a C-arm,the simulation device 20 is a simulated C-arm; in a case where thetarget device 30 is a U-arm, the simulation device 20 is a simulatedU-arm; and so forth. In some examples, a size of the simulation device20 is the same as a size of the target device 30. In some otherexamples, the size of the simulation device 20 is different from thesize of the target device 30. For example, the size of the simulationdevice 20 is smaller than the size of the target device 30.

In the remote operation control system 100 provided in some embodimentsof the present disclosure, after the simulation device 20 moves to theset state, the control device 10 analyzes and calculates the firstposition data and the first attitude data of the simulation device 20that is in the set state (that is, the control device 10 determines thefirst position data and the first attitude data of the simulation device20), and controls the target device 30 to move to the same state as theset state based on the first position data and the first attitude data,thereby achieving remote operation control of the target device 30. Inthis way, the user does not need to adjust the target device 30 on siterepeatedly, which saves the time for the user to adjust the targetdevice 30 and improves the work efficiency.

In some embodiments, the result that the simulation device 20 moves tothe set state may be achieved in a way that the control device 10controls the simulation device 20 to move to the set state. In thiscase, the control device 10 may be configured to control the simulationdevice 20 to move to the set state in response to a first operation ofan operator instructing the simulation device 20 to move.

Here, “the first operation of the operator instructing the simulationdevice 20 to move” may be an operation that the user inputs movementparameter(s) to the control device 10 and/or the user presets themovement parameter(s) in the control device 10. For example, the usermay preset the movement parameter(s) based on a working mode or aprinciple of the remote operation control system 100, so that thecontrol device 10 controls the simulation device 20 to move based on thepreset movement parameter(s).

In actual work, there may be some unexpected situations that cause a setstate of the simulation device 20 to be abnormal at the present moment.In this case, the user may input the movement parameter(s) through aterminal (such as a touch screen, physical buttons, etc.) in the remoteoperation control system 100, or other terminals (such as a mobilephone, a remote control, etc.) connected to the remote operation controlsystem 100, so that the control device 10 controls the simulation device20 to move after receiving the movement parameter(s) set by the user.

With this arrangement, it may be possible to achieve high precisioncontrol of the simulation device 20, and make it easier for thesimulation device 20 to move to the set state directly. In addition,compared with a solution in which the control device 10 directlycontrols the target device 30 to move, in the embodiments of the presentdisclosure, by using the control device 10 to control the simulationdevice 20 to move to the set state first, and then controlling thetarget device 30 to move based on the state of the simulation device 20,it may be possible to avoid directly adjusting the target device 30 formany times, and thus reduce the loss of the target device 30 and thewaste of resources.

The set state is a state that the user expects the target device 30 tomove to. Therefore, before the control device 10 controls the targetdevice 30 to move to the same state as the set state based on the firstposition data and the first attitude data of the simulation device 20,the user may check whether the simulation device 20 has moved to anexpected state (i.e., the set state) first. If the user determines thatthe simulation device 20 has moved to the expected state, the controldevice 10 may control the target device 30 to move to the same state asthe set state based on the first position data and the first attitudedata of the simulation device 20 after a preset period of time or afterreceiving a confirmation instruction from the user. If the userdetermines that the simulation device 20 has not moved to the expectedstate, the user may send an intervention instruction to the controldevice 10, so that the control device 10 does not control the targetdevice 30 to move until the user determines that the simulation device20 has moved to the set state (at which time the control device 10 willcontrol the target device 30 to move to the same state as the set statebased on the first position data and the first attitude datacorresponding to the set state).

Of course, after the user determines that the simulation device 20 hasnot moved to the expected state, the user may not send the interventioninstruction to the control device 10. For example, every time after thesimulation device 20 moves, the control device 10 controls the targetdevice 30 to move once based on intermediate position data andintermediate attitude data obtained from each movement of the simulationdevice 20, until the simulation device 20 moves to the set state, sothat the target device 30 moves to the same state as the set state.

Based on this, the control device 10 may be further configured todetermine whether the simulation device 20 has moved to the set state inresponse to a second operation of the operator instructing thesimulation device 20 to move to the set state. In this case, before thetarget device 30 is controlled to move to the same state as the setstate based on the first position data and the first attitude data, itis determined whether the simulation device 20 has moved to the setstate. In this way, it may be possible to further improve the accuracyof the state to which the target device 30 will move, and improve theaccuracy in which the control device 10 controls the target device 30.As a result, excessive loss of the target device 30 caused by too manyadjustments to the target device 30 may be avoided, and waste ofresources may be avoided to a certain extent.

In some other embodiments, the result that the simulation device 20moves to the set state may be achieved in a way that the user manuallycontrols the simulation device 20 to move to the set state. In thiscase, since the user manually adjusts the simulation device 20 to theset state, the user does not need to learn about operation interfaces,learn the latest operation methods, or understand a relationship betweendata input through the operation interface and an actual state of thetarget device 30. The user may intuitively control the simulation device20, so as to control the target device 30 to move to the same state asthe set state. In this way, the operation difficulty of the user inusing the remote operation control system 100 may be reduced, and thepracticability of the remote operation control system 100 may beimproved.

In some examples, the control device 10 is configured to determinewhether the simulation device 20 has moved to the set state in responseto the second operation of the operator instructing the simulationdevice 20 to move to the set state. In this way, the control device 10may also determine whether the simulation device 20 has moved to the setstate in a case where the user manually controls the simulation device20. As a result, it is convenient for the control device 10 to controlthe target device 30 to move to the same state as the set state. to[0065] In some embodiments, as shown in FIG. 2, the simulation device 20includes at least one driving component 201 and at least one firstsensor 202. The at least one driving component 201 is coupled to thecontrol device 10, and the at least one driving component 201 isconfigured to drive the simulation device 20 to move to the set stateunder control of the control device 10. The at least one first sensor202 is connected to the at least one driving component 201 in one-to-onecorrespondence. Each first sensor 202 is configured to obtain a movementamount of a corresponding driving component 201 connected to the firstsensor 202 when the simulation device 20 moves from a previous state tothe set state.

The control device 10 is coupled to the at least one first sensor 202.The control device 10 is configured to determine the first position dataand the first attitude data based on position data and attitude data ofthe simulation device 20 when the simulation device 20 is in theprevious state, and the movement amount of the at least one drivingcomponent 201.

For example, the driving component 201 may be a motor, and the firstsensor 202 may be an encoder (e.g., a photoelectric encoder).

With this arrangement, the control device 10 may control the drivingcomponent(s) 201 to drive the simulation device 20 to move to the setstate, and may also receive the movement amount of the driving component201 through the first sensor 202 connected to the driving component 201in one-to-one correspondence, so as to determine the first position dataand the first attitude data.

It is worth noting that, in a case where the simulation device 20 iscontrolled by the control device 10 to move to the set state, byproviding the at least one first sensor 202 in the simulation device 20,it may also help improve the accuracy in which the control device 10controls the simulation device 20. For example, after the control device10 transmits a control instruction to the simulation device 20, the atleast one first sensor 202 may detect the actual movement amount of theat least one driving component 201 in the simulation device 20. Bycomparing the actual movement amount of the at least one drivingcomponent 201 and a movement control amount in the control instruction,the control device 10 may adjust the simulation device 20 again in acase where the actual movement amount of the driving component 201 isdifferent from the movement control amount in the control instruction,until the actual movement amount of the driving component 201 is thesame as the movement control amount in the control instruction, so as toensure that the simulation device 20 moves to the set state.

In a case where the simulation device 20 is manually adjusted to the setstate by the user, the control device 10 may obtain the movement amountof the driving component 201 connected to the first sensor 202 throughthe first sensor 202 when the simulation device 20 moves from theprevious state to the set state, so as to determine the first positiondata and the first attitude data based on the position data and theattitude data of the simulation device 20 when the simulation device 20is in the previous state, and the movement amount of the drivingcomponent 201. In this way, the control device 10 may drive the targetdevice 30 to move to the same state as the set state in the case wherethe simulation device 20 is manually adjusted to the set state by theuser.

Generally, a current state (including position and attitude) of thesimulation device 20 is consistent with a current state (includingposition and attitude) of the target device 30. In this case, after thesimulation device 20 moves to the set state, the control device 10 maycontrol the target device 30 to move to the same state as the set statebased on the first position data and the first attitude data of thesimulation device 20. However, there are also cases where the currentstate of the simulation device 20 is not consistent with the currentstate of the target device 30 due to abnormalities or operation errors.

Therefore, in some embodiments, the control device 10 may further beconfigured to obtain the current state of the target device 30, generatea control instruction including a movement control amount based onsecond position data and second attitude data of the target device 30 inthe current state, the first position data and the first attitude data,and send the control instruction to the target device 30. The controlinstruction is used for controlling the target device 30 to move to thesame state as the set state.

With this arrangement, when the current state of the target device 30 isdifferent from the current state of the simulation device 20, thecontrol device 10 may control the target device 30 to move to the samestate as the simulation device 20, which improves the stability of theremote operation control system 100.

In addition, it is worth noting that the target device 30 and thesimulation device 20 are located in different environments. The targetdevice 30 is located in an actual application scene (e.g., an imageroom). However, the target device 30 generally does not exist alone inthe actual application scene. That is, there may be other devices aroundthe target device 30. Therefore, in some embodiments of the presentdisclosure, the control device 10 is configured to detect the currentstate of the target device 30, and may further be configured to detectdistances between the target device 30 and other devices. In this way,during a process in which the control device 10 controls the targetdevice 30, it may also effectively prevent the target device 30 fromcolliding with other devices in the actual application scene, and thuseffectively improve the security of the remote operation control system100.

In some embodiments, the movement control amount may include at leastone linear displacement control amount and/or at least one rotationangle control amount. For example, the movement control amount mayinclude a linear displacement control amount and/or a rotation anglecontrol amount of the target device 30 as a whole, and a lineardisplacement control amount and/or a rotation angle control amount ofeach component in the target device 30.

In some embodiments, as shown in FIG. 3, the remote operation controlsystem 100 further includes at least one second sensor 40. The secondsensor(s) 40 are configured to detect the second position data and/orthe second attitude data of the target device 30 in the current state.The control device 10 is coupled to the at least one second sensor 40,and the control device 10 is further configured to obtain the secondposition data and/or the second attitude data detected by the at leastone second sensor 40.

For example, the second sensor 40 may be a gyroscope, a pressure sensor,etc. The second sensor 40 may be disposed on the target device 30, ornot.

In the embodiments of the present disclosure, the remote operationcontrol system 100 utilizes the control device 10 and the simulationdevice 20 to achive remote and real-time control of the target device30, which improves work efficiency and reduces waste of resources andloss of target device 30 to a certain extent.

As shown in FIG. 4 or FIG. 5, in some embodiments, the remote operationcontrol system 100 further includes an interaction device 50. Theinteraction device 50 is configured to obtain information of the currentstate of the target device 30, and display the information of thecurrent state of the target device 30. The information of the currentstate of the target device 30 includes the second position data and thesecond attitude data of the target device 30. Or, the current stateincludes an image of the target device 30. Or, the current stateincludes the second position data, the second attitude data, and theimage of the target device 30.

In a case where the information of the current state of the targetdevice 30 includes the image of the target device 30, the interactiondevice 50 may display the current state of the target device 30 intwo-dimensional six principle views, or in a draggable three-dimensionalvision. In this way, it is convenient for the user to get a clear andintuitive understanding of the current state of the target device 30through the interaction device 50.

In a case where the information of the current state of the targetdevice 30 includes the second position data and the second attitude dataof the target device 30, the interaction device 50 may display thesecond position data and the second attitude data of the target device30. Furthermore, based on the second position data and the secondattitude data of the target device 30, and initial position data andinitial attitude data of the target device 30, the interaction device 50may further calculate change values in the second position data and thesecond attitude data of the target device 30 relative to the initialposition data and the initial attitude data thereof and display thechange values.

In a case where the information of the current state of the targetdevice 30 includes the image, the second position data and the secondattitude data of the target device 30, the interaction device 50 maydisplay the second position data, the second attitude data, and theimage of the target device 30 at a same time. By combining image anddata, it allows the user to get a more intuitive understanding of thecurrent state of the target device 30, thus preventing the user fromreaching a wrong conclusion about the current state of the target device30 due to insensitivity to the connection between the data and theactual state.

In some embodiments, as shown in FIG. 4, the interaction device 50 iscoupled to the control device 10, and the interaction device 50 isconfigured to obtain the second position data and the second attitudedata of the target device 30 in the current state from the controldevice 10, and display the second position data and the second attitudedata of the target device 30.

In some other embodiments, as shown in FIG. 5, the remote operationcontrol system 100 further includes a photographing device 60 coupled tothe interaction device 50. The photographing device 60 is configured tophotograph the image of the target device 30, and send the image of thetarget device 30 to the interaction device 50, so that the interactiondevice 50 displays the image of the target device 30.

Every time after the remote operation control system 100 is used toadjust the target device 30 or before the remote operation controlsystem 100 is used to adjust the target device 30, there's a need tofine-tune a pose of the target device 30 or even reset the target device30 to an initial state. When fine-tuning the pose of the target device30 or resetting the target device 30 to the initial state, the userneeds to observe the current state of the target device 30 to determinewhether the fine-tuned state of the target device 30 is the stateexpected by the user, or to determine whether the target device 30 isreset to the initial state.

Based on this, in some embodiments, the control device 10 is furtherconfigured to obtain the current state of the target device 30, andcontrol the simulation device 20 to move to the same state as the targetdevice 30 based on the second position data and the second attitude dataof the target device 30 in the current state, under a predeterminedcondition.

With this arrangement, it may be ensured that the current state of thesimulation device 20 is consistent with the current state of the targetdevice 30 under the predetermined condition, and the user may know aboutthe current state of the target device 30 by directly observing thecurrent state of the simulation device 20 without entering the actualapplication screen where the target device 30 is located. Therefore, theuser may save the time for entering the actual application screen wherethe target device 30 is located and thus improve work efficiency.

In some examples, the predetermined condition may include fine-tuningthe pose of the target device 30. Or, the predetermined condition mayinclude resetting the target device 30 to the initial state. Or, thepredetermined condition may include fine-tuning the pose of the targetdevice 30 and resetting the target device 30 to the initial state.

In some embodiments, the target device 30 is a C-arm, and the simulationdevice 20 is a simulated C-arm. For example, the target device 30 is aC-arm used in hospitals.

In some embodiments, as shown in FIGS. 6 and 7, the simulated C-arm(i.e., the simulation device 20) includes an L-shaped part 21, aC-shaped part 22 and an X-axis rotary motion mechanism 23. The L-shapedpart 21 includes a Y-axis linear motion mechanism 211, an X-axis linearmotion mechanism 212, and a Y-axis rotary motion mechanism 213connecting the Y-axis linear motion mechanism 211 and the X-axis linearmotion mechanism 212. The X-axis rotary motion mechanism 23 connects theX-axis linear motion mechanism 212 and the C-shaped part 22. The Y-axisrotary motion mechanism 213 is configured to make the X-axis linearmotion mechanism 212 rotate around a Y axis relative to the Y-axislinear motion mechanism 211. The X-axis rotary motion mechanism 23 isconfigured to make the C-shaped part 22 rotate around an X axis relativeto the X-axis linear motion mechanism 212. The X axis and Y axis areperpendicular to each other.

In some embodiments, as shown in FIG. 7, the Y-axis linear motionmechanism 211 includes a first motor 2111 and a first encoder 2112. Thefirst motor 2111 is configured to drive the X-axis linear motionmechanism 212 to move linearly based on a first movement control amount.The first encoder 2112 is configured to detect a rotation amount of anoutput shaft of the first motor 2111, so as to determine a linearmovement amount of the X-axis linear motion mechanism 212.

In some embodiments, as shown in FIG. 7, the X-axis linear motionmechanism 212 may include a second motor 2121 and a second encoder 2122.The second motor 2121 is configured to drive the C-shaped part 22 tomove linearly based on a second movement control amount. The secondencoder 2122 is configured to detect a rotation amount of an outputshaft of the second motor 2121, so as to determine a linear movementamount of the C-shaped part 22.

In some embodiments, as shown in FIG. 7, the Y-axis rotary motionmechanism 213 may include a third motor 2131 and a third encoder 2132.The third motor 2131 is configured to drive the X-axis linear motionmechanism 212 to rotate relative to the Y-axis linear motion mechanism211 based on a third movement control amount. The third encoder 2132 isconfigured to detect a rotation amount of an output shaft of the thirdmotor 2131, so as to determine a rotation amount of the X-axis linearmotion mechanism 212.

In some embodiments, as shown in FIG. 7, the X-axis rotary motionmechanism 23 includes a fourth motor 231 and a fourth encoder 232. Thefourth motor 231 is configured to drive the C-shaped part 22 to rotaterelative to the X-axis linear motion mechanism 212 based on a fourthmovement control amount. The fourth encoder 232 is configured to detecta rotation amount of an output shaft of the fourth motor 231, so as todetermine a rotation amount of the C-shaped part 22.

In some embodiments, as shown in FIG. 7, the C-shaped part 22 includes afixed structure 221, an arc-shaped structure 222, a fifth motor 223 anda fifth encoder 224. A guide rail 2211 is provided on the fixedstructure 221. The arc-shaped structure 222 is slidably connected to theguide rail. The fifth motor 223 is configured to drive the arc-shapedstructure 222 to rotate relative to the fixed structure 221 based on afifth movement control amount. The fifth encoder 224 is configured todetect a rotation amount of an output shaft of the fifth motor 223, soas to determine a rotation amount of the arc-shaped structure 222.

For example, a toothed structure is provided on a side of the arc-shapedstructure 222 proximate to the guide rail. The C-shaped part 22 mayfurther include a gear, and the gear is engaged with the toothedstructure on the arc-shaped structure 222. The fifth motor 223 isconnected to the gear. The fifth motor 223 is further configured todrive the gear to rotate, so as to drive the arc-shaped structure 222 torotate relative to the guide rail.

In some examples, the C-shaped part 22 may further include detectiondevices disposed on two ends of the arc-shaped structure 222. Thedetection devices include, for example, a charge coupled device (CCD)camera and an image intensifier.

In some examples, the first encoder 2112, the second encoder 2122, thethird encoder 2132, the fourth encoder 232, and the fifth encoder 224may be photoelectric encoders.

In this way, the remote operation control system 100 provided in someembodiments of the present disclosure may not only control the targetdevice 30 remotely and in real time, but may also display the positionand attitude of the target device 30 through the simulation device 20 inreal time. As a result, the user does not need to enter the actual scenewhere the target device 30 is located repeatedly, which saves time andimproves the work efficiency and accuracy.

Some embodiments of the present disclosure further provide a remoteoperation control method, and the remote operation control method may beperformed on the remote operation control system 100. Since a workingprinciple of the remote operation control method provided in theembodiments of the present disclosure is similar to a working principleof the remote operation control system 100 provided in the embodimentsof the present disclosure, with regard to the implementation of theremote operation control method, reference may be made to theimplementation of the system, and details will not be repeated here.

As shown in FIG. 8, the remote operation control method includes steps 1and 2 (S1 and S2).

In S1, the first position data and the first attitude data of thesimulation device 20 are determined when the simulation device 20 movesto the set state.

In S2, the target device 30 is controlled to move to the same state asthe set state based on the first position data and the first attitudedata.

With the remote operation control method provided in some embodiments ofthe present disclosure, the user does not need to adjust the targetdevice 30 on site repeately. With the simulation device 20 and thecontrol device 10, it may be possible to remotely control the targetdevice 30 to move to the same state as the set state, which saves thetime for the users to adjust the target device 30 and improves the workefficiency.

In some embodiments, the simulation device 20 further includes at leastone driving component 201 (referring to FIG. 2). In this case, as shownin FIG. 9, 51 includes steps 11 and 12 (S11 and S12).

In S11, a movement amount of the at least one driving component 201 inthe simulation device 20 is obtained when the simulation device 20 movesfrom a previous state to the set state.

In S12, the first position data and the first attitude data aredetermined based on position data and attitude data of the simulationdevice 20 when the simulation device 20 is in the previous state, andthe movement amount of the at least one driving component 201.

Generally, a current state of the simulation device 20 is the same as acurrent state of the target device 30. Therefore, the control device 10may directly control the target device 30 to move to the same state asthe set state based on the first position data and the first attitudedata determined after the simulation device 20 moves to the set state.However, there are also cases where the current state of the simulationdevice 20 is not consistent with the current state of the target device30 due to abnormalities or operation errors.

Based on this, in some embodiments, as shown in FIG. 10, S2 includesteps 21 and 22 (S21 and S22).

In S21, the current state of the target device 30 is obtained.

In S22, a control instruction including a movement control amount isgenerated based on second position data and second attitude data of thetarget device 30 in the current state, and the first position data andthe first attitude data, and the control instruction is sent to thetarget device 30. The control instruction is used for controlling thetarget device 30 to move to the same state as the set state.

The movement control amount includes, for example, at least one lineardisplacement control amount and/or at least one rotation angle controlamount.

With this arrangement, when the current state of the target device 30 isdifferent from the current state of the simulation device 20, thecontrol device 10 may still control the target device 30 to move to thesame state as the simulation device 20.

In some embodiments, as shown in FIG. 11A, before S1, the remoteoperation control method further includes step 01 (S01).

In S01, the simulation device 20 is controlled to move to the set statein response to a first operation of an operator instructing thesimulation device 20 to move.

In this way, the control device 10 directly controls the simulationdevice 20 to move, which realizes high precision control of thesimulation device 20 and make it easier for the simulation device 20 tomove to the set state directly.

In some other embodiments, as shown in FIG. 11B, before S1, the remoteoperation control method further include steps 01 and 02 (S01 and S02).

In S01, the simulation device 20 is controlled to move to the set statein response to a first operation of an operator instructing thesimulation device 20 to move.

In S02, it is determined whether the simulation device 20 has moved tothe set state in response to a second operation of the operatorinstructing the simulation device 20 to move to the set state.

In this way, before determining the first position data and the firstattitude data, by determining whether the simulation device 20 has movedto the set state, it may be possible to further ensure the reliabilityof the first position data and the first attitude data, so that thetarget device 30 may move to the same state as the set state after thecontrol device 10 controls the target device 30 to move.

Since the simulation device 20 may be manually controlled by theoperator to move to the set state, in some other embodiments, as shownin FIG. 11C, the remote operation control method may only include S02but not S01 before S1.

In this way, the control device 10 may determine whether the simulationdevice 20 has moved to the set state when the operator manually controlsthe simulation device 20 to move, which makes it easier for the controldevice 10 to control the target device 30 to move to the same state asthe set state.

In some embodiments, the remote operation control system 100 may alsouse the control device 10 to control the simulation device 20 to move tothe same state as the target device 30. Based on this, as shown in FIG.12, the remote operation control method further includes steps 3 and 4(S3 and S4).

In S3, the current state of the target device 30 is obtained.

In S4, the simulation device 20 is controlled to move to the same stateas the target device 30 based on the second position data and the secondattitude data of the target device 30 in the current state, under apredetermined condition.

For example, the predetermined condition may include fine-tuning a poseof the target device 30. Or, the predetermined condition may includeresetting the target device 30 to an initial state. Or, thepredetermined condition may include both fine-tuning the pose of thetarget device 30 and resetting the target device 30 to the initialstate.

In the embodiments of the present disclosure, by performing the abovesteps of the remote operation control method on the remote operationcontrol system 100, it may be possible to realize remote and real-timecontrol of the target device 30, and display the position and attitudeof the target device 30 through the simulation device 20 in real time.As a result, the user does not need to enter the actual scene where thetarget device 30 is located repeatedly, which improves the workefficiency, and reduces the waste of resources and the loss of thetarget device 30 to a certain extent.

As shown in FIG. 13, some embodiments of the present disclosure providea terminal 200. The terminal 200 includes a communication interface 200aand a processor 200b. The communication interface 200a is configured toreceive a detection signal. The processor 200b is coupled to thecommunication interface 200a, and is configured to execute the remoteoperation control method as described in any of the above embodiments.

The detection signal may be any signal received by the terminal 200, andthe embodiments of the present disclosure do not limit the content ofthe detection signal. For example, the detection signal may be a signal,transmitted by the first sensor 202, that includes the movement amountof the driving component 201 corresponding to the first sensor 202detected by the first sensor 202. For another example, the detectionsignal may be a signal, transmitted by the second sensor 40, thatincludes the second position data and/or the second attitude data of thetarget device 30 detected by the second sensor 40. For yet anotherexample, the detection signal may be the first operation signal of theoperator (i.e., the user) instructing the control device 10 to controlthe simulation device 20 to move. For yet another example, the detectionsignal may be the second operation signal of the operator instructingthe simulation device 20 to move to the set state.

Some embodiments of the present disclosure further provide acomputer-readable storage medium (e.g., a non-transitorycomputer-readable storage medium). The computer-readable storage mediumhas stored computer program instruction(s) that, when run on a computer,cause the computer to execute the remote operation control method asdescribed in any of the above embodiments.

For example, the non-transitory computer-readable storage medium mayinclude, but is not limited to a magnetic storage device (e.g., a harddisk, a floppy disk or a magnetic tape), an optical disk (e.g., acompact disk (CD), a digital versatile disk (DVD)), a smart card and aflash memory device (e.g., an erasable programmable read-only memory(EPROM), a card, a stick or a key driver). Various computer-readablestorage media described in the present disclosure may represent one ormore devices and/or other machine-readable storage media for storinginformation. The term “machine-readable storage medium” may include, butis not limited to, wireless channels and various other media capable ofstoring, containing and/or carrying instructions and/or data.

Some embodiments of the present disclosure provide a computer programproduct. The computer program product includes computer programinstructions that, when executed on a computer, cause the computer toperform one or more steps in the remote operation control method asdescribed in the above embodiments.

Some embodiments of the present disclosure further provide a computerprogram. When executed on a computer, the computer program causes thecomputer to perform one or more steps in the remote operation controlmethod as described in the above embodiments.

Beneficial effects that may be achieved by the terminal, thecomputer-readable to storage medium, the computer program product, andthe computer program provided in some embodiments of the presentdisclosure are the same as the beneficial effects of the remoteoperation control method as described in the above embodiments of thepresent disclosure, and details will not be repeated herein.

The flowcharts and block diagrams in the drawings illustrate thepossible implementations of the architecture, functions, and operationsof the systems, methods, and computer program products provided in theembodiments of the present disclosure. In this regard, each block in theflow diagrams or block diagrams may represent a module, program segment,or portion of code, which contains one or more executable instructionsfor implementing the specified logic function(s). It will also be notedthat, in some alternative implementations, the functions in the blocksmay also occur in an order different from the order shown in thedrawings. For example, two blocks shown in succession may actually beexecuted approximately in parallel, and they may sometimes be executedin the reverse order, depending on the functions involved. It will alsobe noted that, each block of the block diagrams and/or flowcharts, andcombinations of blocks in the block diagrams and/or flowcharts may beimplemented by a special purpose hardware-based system that performs thespecified functions or operations, or by a combination of specialpurpose hardware and computer instructions.

The units described in the present disclosure may be implemented insoftware, or may be implemented in hardware. The name of the unit doesnot constitute a limitation on the unit itself under certaincircumstances.

The functions described hereinabove may be performed at least in part byone or more hardware logic components. For example, without limitation,exemplary types of hardware logic components that may be used include: afield programmable gate array (FPGA), an application specific integratedcircuit (ASIC), an application specific standard product (ASSP), asystem on chip (SOC), a complex programmable logical device (CPLD), etc.

The above description is only some embodiments of the present disclosureand an explanation of the applied technical principles. A person ofordinary skill in the art will understand that the scope of disclosureinvolved in the present disclosure is not limited to technical solutionsformed by a specific combination of the above technical features, andshould also include other technical solutions formed by arbitrarilycombining the above technical features and/or equivalent featuresthereof without departing from the above disclosed concept. For example,technical solutions formed by replacing the above technical featureswith technical features disclosed in the present disclosure that havesimilar functions (but it is not limited thereto).

In addition, although the operations are depicted in a specific order,this will not be understood as it is required that these operations beperformed in a specific order shown herein or in a sequential order.Under certain circumstances, multitasking and parallel processing may beadvantageous. Likewise, although several detailed implementations areincluded in the above description, these will not be construed aslimiting the scope of the present disclosure. Certain features that aredescribed in the context of separate embodiments may be implemented incombination in a single embodiment. Various features described in thecontext of a single embodiment may also be implemented in a plurality ofembodiments individually or in any suitable sub-combination.

Although the subject matter has been described in language specific tostructural features and/or logical actions of methods, it will beunderstood that the subject matter defined in the appended claims is notnecessarily limited to the specific features or actions described above.The specific features and actions described above are merely exemplaryforms of implementing the claims.

The foregoing descriptions are merely specific implementations of thepresent disclosure, but the protection scope of the present disclosureis not limited thereto. Any person skilled in the art could conceive ofchanges or replacements within the technical scope of the presentdisclosure, which shall be included in the protection scope of thepresent disclosure. Therefore, the protection scope of the presentdisclosure shall be subject to the protection scope of the claims.

1. A remote operation control system, comprising: a simulation device; atarget device; and a control device coupled to the simulation device andthe target device, the control device being configured to determinefirst position data and first attitude data of the simulation devicewhen the simulation device moves to a set state, and control the targetdevice to move to a same state as the set state based on the firstposition data and the first attitude data.
 2. The remote operationcontrol system according to claim 1, wherein the simulation deviceincludes: at least one driving component coupled to the control device,the at least one driving component being configured to drive thesimulation device to move to the set state under control of the controldevice; and at least one first sensor connected to the at least onedriving component in one-to-one correspondence, each first sensor beingconfigured to obtain a movement amount of a corresponding drivingcomponent connected to the first sensor when the simulation device movesfrom a previous state to the set state, wherein the control device iscoupled to the at least one first sensor, and the control device isconfigured to determine the first position data and the first attitudedata based on position data and attitude data of the simulation devicewhen the simulation device is in the previous state, and a movementamount of the at least one driving component.
 3. The remote operationcontrol system according to claim 1, wherein the control device isfurther configured to: obtain a current state of the target device;generate a control instruction including a movement control amount basedon second position data and second attitude data of the target device inthe current state, and the first position data and the first attitudedata; and send the control instruction to the target device, wherein thecontrol instruction is used for controlling the target device to move tothe same state as the set state.
 4. The remote operation control systemaccording to claim 3, wherein the movement control amount includes atleast one linear displacement control amount and/or at least onerotation angle control amount.
 5. The remote operation control systemaccording to claim 1, wherein the control device is further configuredto: control the simulation device to move to the set state in responseto a first operation of an operator instructing the simulation device tomove; and/or determine whether the simulation device has moved to theset state in response to a second operation of the operator instructingthe simulation device to move to the set state.
 6. The remote operationcontrol system according to claim 3, further comprising: at least onesecond sensor configured to detect the second position data and/or thesecond attitude data of the target device in the current state, whereinthe control device is coupled to the at least one second sensor, and thecontrol device is further configured to obtain the second position dataand/or the second attitude data detected by the at least one secondsensor.
 7. The remote operation control system according to claim 3,further comprising: an interaction device configured to obtaininformation of the current state of the target device, and display theinformation of the current state of the target device, wherein theinformation of the current state of the target device includes thesecond position data and the second attitude data of the target device,and/or an image of the target device.
 8. The remote operation controlsystem according to claim 7, wherein the interaction device is coupledto the control device, and the interaction device is configured toobtain the second position data and the second attitude data of thetarget device in the current state from the control device, and displaythe second position data and the second attitude data of the targetdevice; and/or, the remote operation control system further comprises aphotographing device coupled to the interaction device, thephotographing device being configured to photograph the image of thetarget device, and send the image of the target device to theinteraction device, so that the interaction device displays the image ofthe target device.
 9. The remote operation control system according toclaim 1, wherein the control device is further configured to: obtain acurrent state of the target device; and control the simulation device tomove to the same state as the target device based on second positiondata and second attitude data of the target device in the current state,under a predetermined condition; or obtain a current state of the targetdevice, and control the simulation device to move to the same state asthe target device based on second position data and second attitude dataof the target device in the current state, under a predeterminedcondition, wherein the predetermined condition includes at least one offine-tuning a pose of the target device or resetting the target deviceto an initial state. 10-11. (canceled)
 12. The remote operation controlsystem according to claim 1, wherein the target device is a C-arm, andthe simulation device is a simulated C-arm.
 13. The remote operationcontrol system according to claim 12, wherein the simulated C-armincludes an L-shaped part, a C-shaped part, and an X-axis rotary motionmechanism; the L-shaped part includes an X-axis linear motion mechanism,a Y-axis linear motion mechanism, and a Y-axis rotary motion mechanismconnecting the X-axis linear motion mechanism and the Y-axis linearmotion mechanism; the X-axis rotary motion mechanism connects the X-axislinear motion mechanism and the C-shaped part; the Y-axis rotary motionmechanism is configured to make the X-axis linear motion mechanismrotate around a Y axis relative to the Y-axis linear motion mechanism;and the X-axis rotary motion mechanism is configured to make theC-shaped part rotate around an X axis relative to the X-axis linearmotion mechanism.
 14. The remote operation control system according toclaim 13, wherein the Y-axis linear motion mechanism includes: a firstmotor configured to drive the X-axis linear motion mechanism to movelinearly based on a first movement control amount; and a first encoderconfigured to detect a rotation amount of an output shaft of the firstmotor, so as to determine a linear movement amount of the X-axis linearmotion mechanism; the X-axis linear motion mechanism includes: a secondmotor configured to drive the C-shaped part to move linearly based on asecond movement control amount; and a second encoder configured todetect a rotation amount of an output shaft of the second motor, so asto determine a linear movement amount of the C-shaped part; the Y-axisrotary motion mechanism includes: a third motor configured to drive theX-axis linear motion mechanism to rotate relative to the Y-axis linearmotion mechanism based on a third movement control amount; and a thirdencoder configured to detect a rotation amount of an output shaft of thethird motor, so as to determine a rotation amount of the X-axis linearmotion mechanism; the X-axis rotary motion mechanism includes: a fourthmotor configured to drive the C-shaped part to rotate relative to theX-axis linear motion mechanism based on a fourth movement controlamount; and a fourth encoder configured to detect a rotation amount ofan output shaft of the fourth motor, so as to determine a rotationamount of the C-shaped part; the C-shaped part includes: a fixedstructure, wherein a guide rail is provided on the fixed structure; anarc-shaped structure slidably connected to the guide rail; a fifth motorconfigured to drive the arc-shaped structure to rotate relative to thefixed structure based on a fifth movement control amount; and a fifthencoder configured to detect a rotation amount of an output shaft of thefifth motor, so as to determine a rotation amount of the arc-shapedstructure.
 15. A remote operation control method, comprising:determining first position data and first attitude data of a simulationdevice when the simulation device moves to a set state; and controllinga target device to move to a same state as the set state based on thefirst position data and the first attitude data.
 16. The remoteoperation control method according to claim 15, wherein determining thefirst position data and the first attitude data of the simulation devicewhen the simulation device moves to the set state includes: obtaining amovement amount of at least one driving component in the simulationdevice when the simulation device moves from a previous state to the setstate; and determining the first position data and the first attitudedata based on position data and attitude data of the simulation devicewhen the simulation device is in a-the previous state, and the movementamount of the at least one driving component.
 17. The remote operationcontrol method according to claim 15, wherein controlling the targetdevice to move to the same state as the set state based on the firstposition data and the first attitude data includes: obtaining a currentstate of the target device; generating a control instruction including amovement control amount based on second position data and secondattitude data of the target device in the current state, and the firstposition data and the first attitude data; and sending the controlinstruction to the target device, wherein the control instruction isused for controlling the target device to move to the same state as theset state.
 18. The remote operation control method according to claim17, wherein the movement control amount includes at least one lineardisplacement control amount and/or at least one rotation angle controlamount.
 19. The remote operation control method according to claim 15,further comprising: controlling the simulation device to move to the setstate in response to a first operation of an operator instructing thesimulation device to move; and/or determining whether the simulationdevice has moved to the set state in response to a second operation ofthe operator instructing the simulation device to move to the set state.20. The remote operation control method according to claim 15, furthercomprising: obtaining a current state of the target device, andcontrolling the simulation device to move to the same state as thetarget device based on second position data and second attitude data ofthe target device in the current state, under a predetermined condition.21. The remote operation control method according to claim 20, whereinthe predetermined condition includes at least one of following:fine-tuning a pose of the target device; or resetting the target deviceto an initial state.
 22. (canceled)
 23. A non-transitorycomputer-readable storage medium having stored at least one computerprogram instruction that, when run on a computer, cause the computer toexecute the remote operation control method according to claim 15.